Method for calibrating a manipulator of a diagnostic and/or therapeutic manipulator system

Abstract

A method for calibrating a manipulator of a diagnostic and/or therapeutic manipulator system, wherein the manipulator system includes at least one medical imaging device. The method includes at least: a) moving the manipulator to at least one target pose; b) capturing at least one image of at least a part of the manipulator and/or at least of a part of an end effector of the manipulator with the medical imaging device if the manipulator has moved to the target pose; c) determining the actual pose of the manipulator using the captured image; d) determining the deviation between the target pose and the actual pose of the manipulator; and e) calculating at least one calibration parameter on the basis of the determined deviation, and calibrating the manipulator.

What is claimed is: 
     
         1 - 20 . (canceled) 
     
     
         21 . A method for calibrating a robotic manipulator of a diagnostic and/or therapeutic manipulator system, wherein the robotic manipulator system includes at least one medical imaging device, the method comprising:
 a) approaching at least one target pose with the robotic manipulator;   b) capturing at least one image of at least one part of the robotic manipulator and/or at least one part of an end effector of the robotic manipulator with the medical imaging device when the robotic manipulator has moved to the target pose;   c) determining the actual pose of the manipulator using the captured image;   d) determining a deviation between the target pose and the actual pose of the robotic manipulator;   e) calculating at least one calibration parameter based on the determined deviation; and   f) calibrating the robotic manipulator based on the at least one calibration parameter.   
     
     
         22 . The method of  claim 21 , further comprising:
 determining a quality parameter indicative of the accuracy of the manipulator in approach to the target pose, wherein the quality parameter indicates at least one of the absolute accuracy or the repeat accuracy of the robotic manipulator; and   repeating steps a) through f) until the quality parameter has dropped below a predefined quality limit.   
     
     
         23 . The method of  claim 21 , wherein the medical imaging device is at least one of an X-ray imaging device, an ultrasonic imaging device, a positron emission tomography imaging device, or a magnetic resonance imaging device. 
     
     
         24 . The method of  claim 21 , wherein the medical imaging device is configured to prepare at least one of two-dimensional or three-dimensional images. 
     
     
         25 . The method of  claim 21 , wherein:
 at least one of the robotic manipulator or the end effector comprises at least one first marker that is configured to be captured by the imaging device; and   capturing at least one image comprises capturing the at least one first marker in the image.   
     
     
         26 . The method of  claim 25 , wherein the first marker has a defined geometric shape that enables the determination of at least one of the position or orientation of the first marker on the basis of the captured image. 
     
     
         27 . The method of  claim 25 , wherein the first marker is integral with the robotic manipulator or the end effector. 
     
     
         28 . The method of  claim 25 , wherein:
 the at least one first marker is arranged in a housing of the manipulator or of the end effector; and   the housing of at least one of the robotic manipulator or of the end effector is translucent or transparent for the imaging device.   
     
     
         29 . The method of  claim 25 , wherein the first marker is releasably connected to at least one of the robotic manipulator or to the end effector. 
     
     
         30 . The method of  claim 21 , wherein steps a) through f) are carried out for at least two different target poses. 
     
     
         31 . The method of  claim 21 , wherein:
 the manipulator does not stand still during capture of an image of at least one part of the robotic manipulator or at least one part of the end effector with the medical imaging device; and   the image is captured when the robotic manipulator has reached the target pose.   
     
     
         32 . The method of  claim 21 , wherein the at least one calibration parameter is a function of at least one of a velocity or an acceleration of the robotic manipulator in approach to the target pose. 
     
     
         33 . The method of  claim 22 , further comprising:
 updating the quality parameter during operation of the robotic manipulator; and   outputting a warning when the quality parameter exceeds the predefined quality limit.   
     
     
         34 . The method of  claim 21 , wherein:
 the robotic manipulator is a mobile robotic manipulator comprising a mobile platform with at least one second marker configured to be captured by the medical imaging device; and   capturing the at least one image comprises capturing the at least one second marker in the image.   
     
     
         35 . The method of  claim 34 , wherein:
 the mobile robotic manipulator further comprises at least one first coupling means; and   the method further comprises securing the mobile robotic manipulator in a stationary position with the first coupling means.   
     
     
         36 . The method of  claim 34 , wherein:
 the medical imaging device comprises a second coupling means complementary to the first coupling means and configured to be coupled with the first coupling means; and   the method further comprises securing the mobile robotic manipulator relative to the medical imaging device by coupling the first and second coupling means.   
     
     
         37 . The method of  claim 21 , wherein:
 the manipulator system comprises at least one stationary third marker configured to be captured by the medical imaging device; and   capturing the at least one image comprises capturing the at least one third marker in the image.   
     
     
         38 . A control device comprising at least one processor and one data memory, wherein the control device is configured to control at least one robotic manipulator according to the method of  claim 21 . 
     
     
         39 . A diagnostic and/or therapeutic manipulator system, comprising:
 at least one robotic manipulator;   at least one medical imaging device; and   a control device, wherein the control device is configured to control the at least one robotic manipulator according to the method of  claim 21 .   
     
     
         40 . A computer program product, comprising program code stored on a non-transitory, computer-readable medium, the program code configured to, when executed by a computer, cause the computer to:
 a) approach at least one target pose with a robotic manipulator;   b) capture at least one image of at least one part of the robotic manipulator and/or at least one part of an end effector of the robotic manipulator with a medical imaging device when the robotic manipulator has moved to the target pose;   c) determine the actual pose of the manipulator using the captured image;   d) determine a deviation between the target pose and the actual pose of the robotic manipulator;   e) calculate at least one calibration parameter based on the determined deviation; and   f) calibrate the robotic manipulator based on the at least one calibration parameter.